CN110517207B - Linear array CCD integration time self-adaptive adjusting method - Google Patents
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Abstract
The invention discloses a self-adaptive adjustment method for linear array CCD (charge coupled device) integration time, which adopts a mean-median filtering method to filter pixel amplitude values; if the effective area of the pixel waveform changes due to filtering, redefining the effective area of the pixel waveform; then, correcting the proportional relation between the integration time and the maximum amplitude; and finally, adjusting the integral time according to the proportional relation between the corrected integral time and the maximum amplitude.
Description
Technical Field
The invention relates to the field of linear array CCDs, in particular to a self-adaptive adjusting method for linear array CCD integration time.
Background
In recent years, the development of a triangular distance measurement sensor based on a linear array CCD has been rapidly advanced, and the requirement for the accuracy of the sensor has been increasing. The CCD distance measurement principle is that received light is used for imaging on a CCD, and the center of mass of a light spot is calculated according to the amplitude of each pixel of the CCD.
When the target reflectivity is different, the pixel amplitude will also be different. When a high-reflectivity object is detected, if the pixel amplitude is too high, the distance information of the target object cannot be truly reflected; when detecting low-reflectivity objects, the pixel amplitude is too small, the signal-to-noise ratio is low, and the error is large. In addition, the distance difference measured by the target objects with different reflectivities at the same distance is larger, namely, the chromatic aberration is larger. In practical application, target species are various, so that the distance measurement product can adjust related parameters according to the change of a target object, the chromatic aberration is reduced, and the product precision is improved.
Adjusting the pixel signal amplitude can be achieved by adjusting the CCD integration time, and the principle is:
setting a target amplitude, and when the signal amplitude is larger than the target amplitude, reducing the integration time; when the amplitude is less than the target amplitude, the integration time is increased until the signal amplitude is comparable to the target amplitude or falls within a specified region around the target amplitude. The methods differ in the adjustment process. The main methods are as follows:
1) Coarse adjustment + fine adjustment: the integration time adjustment span is large (e.g., in the order of ms) when the amplitude differs significantly from the target amplitude, and is small (e.g., in the order of us) when the difference is small.
2) Adjusting according to gears: several gears are defined, one for each integration time. When the amplitude is smaller than the target amplitude, the gear is increased; and when the amplitude is larger than the target amplitude, the gear is reduced.
The above method has the disadvantages that:
1) The coarse adjustment and fine adjustment method has a slow adjustment speed, and can be adjusted in place only by tens of frames or even tens of frames.
2) Strict requirements on the definition of gears are met according to gear adjustment, and if the phase difference between the gears is too far, the integral time of a certain position is suddenly changed, and the distance is fault; if the difference between the gears is too close, the adjustment speed is slow, and there may be a situation where the integration time is adjusted back and forth between the two gears at a certain position.
Disclosure of Invention
The invention aims to provide a linear array CCD integration time self-adaptive adjusting method aiming at the defects in the prior art, and has the following innovation points.
1. And filtering the pixel amplitude by adopting a mean-median filtering method to avoid amplitude maximum value fluctuation.
When the surface of the target object is rough, imaging light spots are asymmetric, the pixel amplitude is easy to fluctuate, and the pixel amplitude is smoothed by adopting mean-median filtering. The waveform variation trend is consistent with the original data trend by adjusting the related parameters, and no lead or lag exists.
2. Filtering may result in a change in the effective area of the pixel waveform. And redefining the effective area of the pixel waveform after filtering.
The active area is a region of pixels having a magnitude greater than a threshold. Filtering can result in pixel amplitude variations and may result in active area variations. After filtering, based on the original effective area, expanding a certain range to search the starting point and the end point of the effective area again,
3. and correcting the proportional relation between the integration time and the maximum amplitude value, and removing the influence of noise in the proportional relation.
The integration time is proportional to the maximum amplitude. However, the actual amplitude contains noise, and the proportional relationship is only established after the noise is subtracted.
4. And adjusting the integration time according to the corrected relation between the integration time and the amplitude.
And establishing an equation of the proportional relation between the target integration time and the target amplitude according to the proportional relation between the corrected integration time and the maximum amplitude, and calculating and adjusting the target integration time.
5. The target amplitude is set to be close to the saturation region position, and the integration time is adjusted rapidly.
When the pixel waveform is adjusted to the maximum value and is close to the saturation region, the mass center is stable, the proportional relation between the integration time and the maximum amplitude value is only established in the linear region of the CCD device, and the secondary relation of the saturation region is not established any more. In the adjacent saturation area, the relation can not be strictly established, but the monotonous relation between the integration time and the maximum amplitude is still established, the adjustment can still be carried out by using the relation, the adjustment speed is high, and the adjustment can be stabilized within 4 frames.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a linear array CCD integration time self-adaptive adjusting method comprises the following steps:
1) Filtering the pixel amplitude by adopting a mean-median filtering method;
2) If the effective area of the pixel waveform changes due to filtering, redefining the effective area of the pixel waveform;
3) Correcting the proportional relation between the integration time and the maximum amplitude;
4) And adjusting the integration time according to the proportional relation between the corrected integration time and the maximum amplitude.
Further, the specific method of the step 1) comprises the following steps: taking the second number of the front and the second number of the back, and replacing the original data after the median: and performing mean calculation on the data after the median and four surrounding data, and replacing the original data.
Further, the specific method of the step 2) is as follows:
2.1 Defining a threshold value, if the pixel amplitude value is greater than the threshold value, the pixel is an effective pixel, and the area formed by all the effective pixels is an effective area; the first pixel which is larger than the threshold value and the last pixel which is larger than the threshold value are the starting point and the end point of the effective area;
2.2 After filtering, the start point and the end point of the effective area are searched again by expanding the area of 10 pixels forwards and backwards according to the start point and the end point of the effective area.
Further, the specific method of step 3) is as follows:
the light injection charge formula of the photosensitive cell of the CCD camera device is
Q IP ＝ηqΔn eo AT C
Wherein eta is the quantum efficiency of the material; q is the charge amount of electrons; Δ n eo Is the photon flow rate of the incident light; a is the light receiving area of the photosensitive unit; tc is the light integration time;
from the above formula, after the CCD device is determined, η, q, and a are all constants for each pixel, and Δ n is constant under the premise that the illumination condition is not changed eo Is also constant, so Q IP Is linear with Tc; and due to Q IP The output amplitude of the pixel corresponding to the CCD is linear, so Tc and the output amplitude are also linear, i.e.
U∝T C
In the formula, U is the amplitude of a CCD output signal;
as can be seen from the above formula, under the same illumination conditions, there are
In the formula, tc1 and Tc2 are light integration time, and U1 and U2 are signal output amplitudes corresponding to Tc1 and Tc2 respectively; the following conclusions can be drawn from the above equation and the preconditions for the establishment of the formula:
in the linear range of the CCD, under the premise that the illumination condition is not changed, if the light integration time Tc1 of the current frame, the corresponding output signal amplitude U1 and the expected output signal amplitude U2 are known, the light integration time Tc2 to be provided for obtaining U2 can be calculated according to the above formula as
The measured signal contains a part of bottom noise U noise The background noise needs to be subtracted:
U noise is a fixed value and is calculated through actual test results.
Further, the specific method of the step 4) is as follows: defining the maximum amplitude of the ideal waveform as U goal Corresponding to an integration time of T goal (ii) a Then U is goal Should be less than the maximum amplitude at saturation, taking the waveform near saturation as the ideal waveform, U goal The maximum amplitude of the ideal waveform; u shape TH For the reserved margin, when the amplitude is adjusted to U goal ±U TH When the waveform is within the range, the waveform is adjusted to the ideal waveform.
Compared with the prior art, the invention has the beneficial effects that:
1) The median-average filtering can effectively reduce the fluctuation of the pixel amplitude and improve the stability of the product.
2) The problem of different distances caused by different target reflectivity is solved. The product can automatically adjust the integration time according to the current waveform so as to adapt to the problem of chromatic aberration caused by different target objects.
3) According to the direct proportion relation between the corrected integration time and the maximum amplitude value, the integration time can be rapidly adjusted to be stable. Has great advantages in the rapid detection occasion in the industrial field.
Drawings
FIG. 1a is a schematic representation of signal supersaturation in accordance with the present invention.
FIG. 1b is a schematic diagram of the signal under-attenuation according to the present invention.
FIG. 1c is a schematic diagram of an ideal waveform according to the present invention.
Fig. 2 is a schematic diagram of median-to-mean filtering of raw data according to the present invention.
Fig. 3 is a schematic diagram of waveform adjustment according to the present invention.
a is a white card signal supersaturation waveform; b is the waveform after white card adjustment; c is the black card signal weakening waveform of the invention; and d is the waveform after black card adjustment.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The laser ranging product based on the linear array CCD device receives light to form an image on the CCD, and the pixel amplitude forms a waveform close to Gaussian distribution. Referring to fig. 1a, when the reflectivity of the target object is high, the received signal is strong, and the waveform is supersaturated; referring to fig. 1b, when the target reflectivity is low, the received signal is too low. By appropriate adjustment of the integration time, the waveform can be adjusted to the ideal shape as shown in fig. 1 c.
An ideal waveform is a waveform whose maximum amplitude is near saturation. The invention adopts median-mean filtering to smooth the waveform, and then utilizes the proportional relation between the integral time and the maximum amplitude value to quickly adjust the integral time to be stable and the waveform to be an ideal waveform.
Examples
1. Median-to-mean filtering
The median-mean filtering means that the median filtering is performed on the data, then the mean calculation is performed on the data and the nearby data, and the original data is replaced.
1.1 filtering method:
assuming the raw data: a1 A2, a3, a4, a5, … …
The data is median filtered first. Taking the second number of the front and the second number of the back, and replacing the original data after the median: b1= a1; b2= (b 1+ a 3)/2; b3= (b 1+ a 5)/2; b4= (b 2+ a 6)/2; … …
And performing mean calculation on the data after the median and four surrounding data, and replacing the original data:
c1＝b1；c2＝(c1+b2+b3+b4)/4；c3＝(c1+c2+b3+b4+b5)/5；
c4＝(c2+c3+b4+b5+b6)/5；……
the effect of filtering with median-to-mean is shown in figure 2.
1.2 searching the effective area of the waveform again after filtering:
and defining a threshold, wherein the pixel amplitude is greater than the threshold, the pixel is an effective pixel, and the area formed by all the effective pixels is an effective area. The start and end points of the active area, i.e. the first pixel above the threshold and the last pixel above the threshold. There is a slight change in pixel amplitude after filtering, but it is very likely that the positions of the start and end points will change. Therefore, after filtering, the region is expanded forward and backward by 10 pixels from the original start point and end point, and the start point and end point of the effective region are searched again.
2. Correction of proportional relation between integration time and maximum amplitude
The photosensitive unit of the CCD camera device adopts a light injection mode. The light injection charge formula is
Q IP ＝ηqΔn eo AT C
Wherein η is the quantum efficiency of the material; q is the charge amount of electrons; Δ n eo Is the photon flow rate of the incident light; a is the light receiving area of the photosensitive unit; tc is the light integration time.From the above formula, after the CCD device is determined, η, q, and a are all constants for each pixel, and Δ n is constant under the premise that the illumination condition is not changed eo Is also constant, so Q IP Is linear with Tc; and due to Q IP The output amplitude of the pixel corresponding to the CCD is linear, so Tc and the output amplitude are also linear, i.e.
U∝T C
In the formula, U is the amplitude of the CCD output signal. As can be seen from the above formula, under the same illumination conditions, there are
In the formula, tc1 and Tc2 are light integration time, and U1 and U2 are signal output amplitudes corresponding to Tc1 and Tc2, respectively. The following conclusions can be drawn from the above equation and the preconditions for the establishment of the formula:
in the linear range of the CCD, under the premise that the illumination condition is not changed, if the light integration time Tc1 of the current frame, the corresponding output signal amplitude U1 and the expected output signal amplitude U2 are known, the light integration time Tc2 to be provided for obtaining U2 can be calculated according to the above formula as
The measured signal contains a part of bottom noise U noise The background noise needs to be subtracted:
U noise is a fixed value and can be calculated through actual test results. Since the noise floor is substantially the same for different products, U is here noise A uniform constant value may be taken.
3. Integration time adjustment procedure
The relation (1) satisfies the condition in the linear region of the CCD device. Defining ideal waves with reference to a, b, c and d in FIG. 3The maximum amplitude of the shape is U goal Corresponding to an integration time of T goal (ii) a Then U is goal Should be less than the maximum amplitude at saturation, we take the waveform near saturation as the ideal waveform, U goal The maximum amplitude of the ideal waveform. U shape TH For the reserved margin, when the amplitude is adjusted to U goal ±U TH When the waveform is within the range, the waveform is adjusted to the ideal waveform.
In fact, the proportional relationship between the amplitude and the integration time is not strictly established due to the loss of light energy or the influence of ambient light, but the monotonic relationship is still established. By adjusting the integration time in this way, no more than 4 frames can be adjusted to be stable.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A linear array CCD integration time self-adaptive adjusting method is characterized by comprising the following steps:
1) Filtering the pixel amplitude by adopting a mean-median filtering method;
2) If the effective area of the pixel waveform is changed due to filtering, redefining the effective area of the pixel waveform;
the specific method of the step 2) comprises the following steps:
2.1 Defining a threshold value, if the pixel amplitude value is greater than the threshold value, the pixel is an effective pixel, and the area formed by all the effective pixels is an effective area; the first pixel which is larger than the threshold value and the last pixel which is larger than the threshold value are the starting point and the end point of the effective area;
2.2 After filtering, the start point and the end point of the effective area are expanded forwards and backwards by 10 pixels, and the start point and the end point of the effective area are searched again;
3) Correcting the proportional relation between the integration time and the maximum amplitude;
4) Adjusting the integral time according to the proportional relation between the corrected integral time and the maximum amplitude;
defining the maximum amplitude of the ideal waveform as U goal Corresponding to an integration time of T goal (ii) a Then U is goal Should be less than the maximum amplitude at saturation, taking the saturated waveform as the ideal waveform, U goal The maximum amplitude of the ideal waveform; u shape TH For the reserved margin, when the amplitude is adjusted to U goal ±U TH When the waveform is within the range, the waveform is adjusted to the ideal waveform.
2. The adaptive adjustment method for linear array CCD integration time according to claim 1, wherein the specific method in step 1) is as follows: taking the second number of the front and the second number of the back, and replacing the original data after the median: and performing mean calculation on the data after the median and four surrounding data, and replacing the original data.
3. The adaptive adjustment method for linear array CCD integration time according to claim 1, wherein the specific method in step 3) is as follows:
the light injection charge formula of the photosensitive cell of the CCD camera device is
Q IP ＝ηqΔn eo AT C
Wherein η is the quantum efficiency of the material; q is the charge amount of electrons; Δ n eo Is the photon flow rate of the incident light; a is the light receiving area of the photosensitive unit; tc is the light integration time;
from the above formula, after the CCD device is determined, η, q, and a are all constants for each pixel, and Δ n is constant under the premise that the illumination condition is not changed eo Is also constant, so Q IP Is linear with Tc; and due to Q IP The output amplitude of the pixel corresponding to the CCD is linear, so Tc and the output amplitude are also linear, i.e.
U∝T C
In the formula, U is the amplitude of a CCD output signal;
as can be seen from the above formula, under the same illumination conditions, there are
In the formula, tcl and Tc2 are light integration time, and U1 and U2 are signal output amplitudes corresponding to Tcl and Tc2 respectively; the following conclusions can be drawn from the above equation and the preconditions for the establishment of the formula:
in the linear range of the CCD, under the premise that the illumination condition is not changed, if the light integration time Tc1 of the current frame, the corresponding output signal amplitude U1 and the expected output signal amplitude U2 are known, the light integration time Tc2 provided for obtaining U2 can be obtained according to the above formula
The measured signal contains a part of bottom noise U noise The background noise needs to be subtracted:
U noise is a fixed value and is calculated through actual test results.
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